A robotic controller for autonomous calibration and inspection of two or more solar surfaces wherein the robotic controller includes a drive system to position itself near a solar surface such that onboard sensors may be utilized to gather information about the solar surface. An onboard communication unit relays information to a central processing network, this processor combines new information with stored historical data to calibrate a solar surface and/or to determine its instantaneous health.
Legal claims defining the scope of protection. Each claim is shown in both the original legal language and a plain English translation.
1. A robot, comprising: a flight system configured to maneuver the robot above ground-based obstacles and characterize an unstructured environment suitable for supporting an array of photovoltaic modules, the robot being configured to: map terrain in the unstructured environment with a 3-D vision system; compute safe and unsafe areas on the terrain in the unstructured environment; identify known obstacles within the terrain in the unstructured environment, and determine a current position, orientation and non-perpendicularity of one or more solar surfaces distributed across the terrain; and compare the current position, orientation and non-perpendicularity of the one or more solar surfaces to a historical position, orientation and non-perpendicularity of the one or more solar surfaces to determine one or more of field installation tolerances, manufacturing errors and ground settling.
A robot system is designed for aerial inspection and analysis of unstructured environments, particularly those intended for solar panel installations. The robot includes a flight system that enables maneuvering over ground-based obstacles and assessing terrain suitability for photovoltaic module arrays. The system uses a 3-D vision system to map the terrain, identifying safe and unsafe areas, known obstacles, and the current position, orientation, and non-perpendicularity of solar surfaces. By comparing these measurements with historical data, the robot determines field installation tolerances, manufacturing errors, and ground settling. This allows for precise monitoring of solar panel alignment and structural integrity over time, ensuring optimal energy production and system reliability. The robot's ability to navigate unstructured environments and perform detailed terrain analysis provides a comprehensive solution for solar farm maintenance and quality control.
2. The robot of claim 1 , wherein the known obstacles include one or more of the following: a solar surface; a supporting structure system for the solar surface; and a supporting foundation for the supporting structure system.
This invention relates to a robot designed for navigating and operating in environments with solar energy infrastructure, specifically addressing challenges in inspecting and maintaining solar power systems. The robot is equipped with sensors and control systems to detect and avoid obstacles commonly found in solar installations, including solar panels, supporting structures, and foundational elements. The robot autonomously identifies these obstacles to ensure safe and efficient movement across the installation site. The system may include vision-based or proximity sensors to recognize solar surfaces, structural beams, and foundation components, allowing the robot to adjust its path dynamically. This capability is particularly useful for tasks such as cleaning, maintenance, or structural integrity checks in solar farms, where avoiding damage to equipment is critical. The robot’s obstacle detection and avoidance features enhance operational safety and reliability in environments where traditional inspection methods may be inefficient or hazardous. By integrating these functionalities, the robot provides a robust solution for automating solar farm maintenance, reducing human intervention and improving overall system performance.
3. The robot of claim 1 , wherein computing safe and unsafe areas comprises identifying optimal drive paths that lead to desired destinations in the unstructured environment.
This invention relates to autonomous robots operating in unstructured environments, such as warehouses, construction sites, or outdoor terrain, where navigation is challenging due to dynamic obstacles and unpredictable conditions. The problem addressed is the difficulty in determining safe and unsafe areas for robot movement, particularly when planning paths to desired destinations. The robot includes a navigation system that identifies safe and unsafe regions within the environment. This involves analyzing the terrain, obstacles, and other dynamic factors to compute optimal drive paths that lead to intended destinations. The system evaluates potential routes to avoid hazards while ensuring efficient movement toward goals. The robot may also incorporate sensors and mapping tools to continuously update its understanding of the environment, allowing for real-time adjustments to navigation strategies. By dynamically assessing safety and optimizing paths, the robot can navigate complex, unstructured spaces more effectively than traditional methods that rely on predefined maps or static obstacle avoidance. This approach improves both safety and efficiency in autonomous operations.
4. The robot of claim 1 , further comprising: an onboard position location system capable of determining the location of the robot in global coordinates.
This invention relates to a mobile robot equipped with an onboard position location system that determines the robot's location in global coordinates. The robot is designed for autonomous navigation and operation in environments where precise positioning is required. The onboard position location system enables the robot to track its position relative to a global reference frame, such as GPS or other satellite-based navigation systems, allowing for accurate movement and task execution. This system ensures the robot can navigate independently, avoid obstacles, and perform tasks without relying on external positioning infrastructure. The integration of global positioning capabilities enhances the robot's autonomy, making it suitable for applications in logistics, surveillance, agriculture, and other fields where precise location tracking is essential. The robot may also include additional features such as sensors, actuators, and communication modules to support its operational functions. The position location system provides real-time location data, enabling the robot to adjust its path dynamically and maintain operational accuracy in dynamic environments. This advancement improves the robot's reliability and effectiveness in performing tasks that require precise spatial awareness.
5. The robot of claim 4 , wherein the onboard position location system comprises a triangulation system able to communicate with a multiplicity of devices calibrated in a global reference frame.
This invention relates to a robot equipped with an onboard position location system that uses a triangulation method to determine its location. The system communicates with multiple devices that are calibrated within a global reference frame, allowing the robot to accurately determine its position relative to these reference points. The triangulation system enables precise localization by measuring distances or angles to the calibrated devices and calculating the robot's position based on these measurements. This approach enhances the robot's ability to navigate and operate in environments where global positioning is critical, such as industrial automation, autonomous vehicles, or warehouse logistics. The use of a global reference frame ensures consistency and accuracy across different locations, improving the robot's reliability in dynamic or large-scale environments. The system may also incorporate additional sensors or algorithms to refine position estimates, ensuring robust performance even in challenging conditions. This technology addresses the need for accurate, real-time positioning in robotic applications where precise navigation is essential for safety and efficiency.
6. The robot of claim 4 , wherein the onboard position location system is a GPS device.
A robotic system is designed to autonomously navigate and perform tasks in outdoor environments where precise positioning is critical. The system includes an onboard position location system to determine the robot's location, which is essential for navigation, task execution, and coordination with other systems. The onboard position location system is implemented as a GPS device, providing real-time geospatial coordinates to ensure accurate positioning and movement. This allows the robot to operate effectively in open or semi-open areas where GPS signals are available, enabling applications such as environmental monitoring, agricultural automation, or search-and-rescue operations. The GPS device may be integrated with additional sensors or algorithms to enhance accuracy, such as dead reckoning or inertial measurement units, to compensate for signal interference or multipath errors. The system may also include communication modules to transmit location data to a central control unit or other robots, facilitating coordinated operations. The use of GPS ensures reliable positioning, reducing the need for manual intervention and improving the robot's autonomy in dynamic environments.
7. The robot of claim 1 , further comprising: a calibration unit configured to determine calibration information for adjustable solar surfaces distributed across the unstructured environment.
This invention relates to a robot designed for operation in unstructured environments, such as outdoor or dynamic settings where precise navigation and energy management are challenging. The robot includes a calibration unit that determines calibration information for adjustable solar surfaces distributed across the environment. These solar surfaces are likely used to harvest solar energy, and their adjustability allows them to optimize energy collection based on sunlight direction and intensity. The calibration unit ensures that the solar surfaces are properly aligned and functioning, which is critical for maintaining the robot's power supply in environments where traditional charging infrastructure may be unavailable. The robot's ability to calibrate these surfaces autonomously enhances its operational efficiency and reliability in remote or harsh conditions. This feature is particularly valuable for applications such as environmental monitoring, search and rescue, or agricultural automation, where consistent energy availability is essential for prolonged operation. The calibration process may involve real-time adjustments based on sensor data, ensuring optimal performance under varying environmental conditions. By integrating this calibration capability, the robot can adapt to changes in the environment without manual intervention, reducing downtime and improving overall functionality.
8. The robot of claim 7 , wherein the calibration unit includes a perpendicularity unit to determine a perpendicularity measure of support structures supporting the adjustable solar surfaces based on orientation of the robot and orientation of the support structure relative to the orientation of the robot, wherein the status information identified for the adjustable surface comprises the orientation of the support structure relative to the robot.
A robotic system is designed to optimize solar energy collection by adjusting solar surfaces based on environmental conditions. The system includes a calibration unit that ensures precise alignment of support structures holding the solar surfaces. A perpendicularity unit within the calibration unit measures the perpendicularity of these support structures relative to the robot's orientation. This measurement helps determine the exact positioning of the solar surfaces to maximize energy capture. The calibration unit generates status information, including the orientation of the support structures relative to the robot, which is used to fine-tune the solar surface adjustments. This ensures the robot maintains optimal solar tracking performance, even if the support structures shift due to environmental factors or mechanical wear. The system improves efficiency by continuously monitoring and correcting misalignments, leading to more consistent energy output. The perpendicularity measurement is a key feature, enabling real-time adjustments to compensate for structural deviations. This approach enhances the reliability and performance of solar-powered robotic systems in varying operational conditions.
9. The robot of claim 8 , wherein the perpendicularity unit comprises a software program.
This invention relates to a robotic system designed to improve the precision of robotic movements, particularly in tasks requiring high positional accuracy. The system addresses the challenge of maintaining perpendicularity between a robotic arm and a target surface, which is critical in applications such as welding, assembly, or surface inspection where misalignment can lead to defects or inefficiencies. The robot includes a perpendicularity unit that ensures the robotic arm remains perpendicular to the target surface during operation. This unit can be implemented as a software program that processes sensor data, such as from cameras or proximity sensors, to calculate and adjust the arm's orientation in real time. The software may use algorithms to detect deviations from the desired perpendicular alignment and generate corrective commands to the robot's actuators. Additionally, the system may incorporate feedback mechanisms to continuously monitor and refine the arm's position, ensuring consistent accuracy over time. The invention also includes a calibration mechanism that allows the robot to adjust its alignment based on environmental factors or changes in the target surface. This ensures adaptability in dynamic work environments. The overall system enhances robotic precision, reducing errors and improving the quality of automated tasks.
10. The robot of claim 8 , wherein computing safe and unsafe areas on the terrain in the unstructured environment comprises determining safe zones where, given a known field configuration, a solar surface would not be able to shade an adjacent solar surface.
This invention relates to autonomous robots designed for navigating unstructured environments, such as outdoor terrains with uneven surfaces, obstacles, and varying sunlight conditions. The problem addressed is the challenge of optimizing solar energy collection for robots operating in such environments, where shading from terrain features or the robot itself can reduce energy efficiency. The robot includes a system for computing safe and unsafe areas on the terrain. This involves analyzing the terrain to identify safe zones where, given a known field configuration, one solar surface would not shade an adjacent solar surface. The system accounts for the robot's movement and the terrain's geometry to ensure that solar panels remain unobstructed by other panels or environmental features. This allows the robot to position itself optimally for maximum solar energy absorption while avoiding collisions or shading-related inefficiencies. The robot may also include sensors for real-time terrain mapping and adaptive positioning to maintain energy efficiency in dynamic environments. The overall solution enhances the robot's autonomy and operational longevity by ensuring reliable solar power generation.
11. A method for mapping terrain in an unstructured environment suitable for supporting a field of solar surfaces, the method comprising: maneuvering a robot having a flight control system and a 3-D vision system above ground-based obstacles to characterize the unstructured environment; mapping terrain in the unstructured environment using the 3-D vision system; computing safe and unsafe areas on the terrain in the unstructured environment; identifying known obstacles within the terrain in the unstructured environment; and determining a current position, orientation and non-perpendicularity of one or more solar surfaces distributed across the terrain; and comparing the current position, orientation and non-perpendicularity of the one or more solar surfaces to a historical position, orientation and non-perpendicularity of the one or more solar surfaces to determine one or more of field installation tolerances, manufacturing errors and ground settling.
This invention relates to a method for mapping and analyzing terrain in unstructured environments to support the deployment of solar energy systems. The method addresses challenges in assessing terrain suitability for solar installations, particularly in areas with uneven ground, obstacles, or other irregularities that may affect solar panel performance. A robot equipped with a flight control system and a 3D vision system is used to navigate above ground-based obstacles, enabling detailed terrain mapping. The 3D vision system captures data to identify safe and unsafe areas, detect known obstacles, and assess the terrain's suitability for solar surface placement. The method further evaluates the position, orientation, and non-perpendicularity of solar surfaces distributed across the terrain, comparing current measurements to historical data. This comparison helps identify field installation tolerances, manufacturing errors, and ground settling, ensuring optimal solar panel alignment and performance. The approach improves the accuracy of solar farm deployment by providing detailed terrain analysis and monitoring changes over time.
12. The method of claim 11 , wherein determining the current position, orientation and non-perpendicularity of the one or more solar surfaces comprises using a position location system on-board the robot to determine the current position, orientation and non-perpendicularity of the solar surfaces.
A solar-powered robot is equipped with one or more solar surfaces designed to capture sunlight for energy generation. A key challenge is accurately determining the current position, orientation, and non-perpendicularity (angular deviation from optimal alignment) of these solar surfaces to maximize energy efficiency. To address this, the robot utilizes an on-board position location system, such as GPS or another positioning technology, to precisely measure the spatial coordinates, angular orientation, and deviation from perpendicular alignment of the solar surfaces relative to the sun. This data enables real-time adjustments to optimize solar energy capture. The system may also incorporate additional sensors or algorithms to refine positional accuracy and account for environmental factors like shading or atmospheric conditions. By dynamically tracking and correcting the alignment of solar surfaces, the robot ensures consistent and efficient energy generation, enhancing operational autonomy and performance in varying environmental conditions.
13. The method of claim 11 , further comprising determining an alignment value for one or more of the solar surfaces, the alignment value describing reorientation of the one or more solar surfaces to an optimal solar vector.
This invention relates to solar energy systems and addresses the challenge of optimizing solar panel alignment to maximize energy capture. The method involves determining an alignment value for one or more solar surfaces, which quantifies the necessary reorientation of these surfaces to align with an optimal solar vector. The optimal solar vector represents the ideal direction for solar energy collection, accounting for factors such as sun position, time of day, and seasonal variations. By calculating this alignment value, the system can adjust the solar surfaces to improve energy efficiency. This process may involve real-time tracking of solar position, predictive modeling of solar trajectories, or feedback mechanisms to fine-tune alignment. The method ensures that solar surfaces are dynamically optimized to capture the maximum possible solar energy, enhancing the overall performance of solar energy systems. This approach is particularly useful in fixed or partially adjustable solar installations where precise alignment adjustments are critical for energy yield. The invention builds on prior techniques for solar tracking and alignment optimization, offering a refined method to enhance energy capture efficiency.
14. The method of claim 11 , wherein mapping the terrain comprises mapping a plurality of solar surfaces distributed across the unstructured environment.
This invention relates to methods for mapping and utilizing solar surfaces in unstructured environments, such as outdoor or uneven terrain where traditional solar panel installations are impractical. The method involves identifying and mapping multiple solar surfaces distributed across the environment, enabling efficient solar energy collection from various angles and positions. The system first captures data about the environment, including terrain features and sunlight exposure patterns, to identify optimal locations for solar surfaces. These surfaces can be dynamically positioned or adjusted to maximize energy capture based on real-time conditions. The method also includes integrating the mapped solar surfaces with energy storage or distribution systems to ensure reliable power supply. By leveraging distributed solar surfaces, the invention addresses challenges in harnessing solar energy in environments where fixed panels are ineffective, improving energy efficiency and adaptability. The approach is particularly useful in remote or rugged locations where traditional solar installations are not feasible.
15. The method of claim 14 , further comprising adjusting the orientation of one or more of the solar surfaces using the mapped terrain data.
A system and method for optimizing solar energy collection involves mapping terrain data to determine optimal orientations for solar surfaces. The system includes a solar energy collection device with multiple solar surfaces, each capable of independent adjustment. The method involves collecting terrain data, such as elevation, slope, and shading, and analyzing this data to determine the most efficient orientation for each solar surface. The system then adjusts the orientation of one or more solar surfaces based on the mapped terrain data to maximize energy capture. This adjustment may involve tilting or rotating the surfaces to align with the sun's position relative to the terrain. The system may also account for environmental factors like weather conditions or seasonal changes to further optimize performance. By dynamically adjusting the solar surfaces, the system improves energy efficiency and reduces reliance on fixed-position solar panels, which are often less effective in varying terrain. The method ensures that solar surfaces are positioned to capture the maximum available sunlight, enhancing overall energy output.
16. A robot, comprising: a flight system configured to maneuver the robot through the air above ground-based obstacles and characterize an unstructured environment suitable for supporting an array of photovoltaic modules, the robot being configured to: map terrain in the unstructured environment with a 3-D vision system, compute safe and unsafe areas on the terrain in the unstructured environment, identify known obstacles within the terrain in the unstructured environment, and determine a current position, orientation and non-perpendicularity of one or more solar surfaces distributed across the terrain; and compare the current position, orientation and non-perpendicularity of the one or more solar surfaces to a historical position, orientation and non-perpendicularity of the one or more solar surfaces to determine one or more of field installation tolerances, manufacturing errors and ground settling; and a transmitter configured to transmit the safe and unsafe areas as well as the identified obstacles to a receiver external to the robot.
This invention relates to an autonomous aerial robot designed to assess and map unstructured environments for photovoltaic (PV) module installations. The robot navigates through the air using a flight system, avoiding ground-based obstacles while characterizing terrain suitability for solar arrays. It employs a 3-D vision system to map the environment, identifying safe and unsafe areas, known obstacles, and the current position, orientation, and non-perpendicularity of existing solar surfaces. By comparing these measurements to historical data, the robot detects deviations caused by field installation tolerances, manufacturing errors, or ground settling. The collected data, including safe/unsafe zones and obstacle locations, is transmitted wirelessly to an external receiver for further analysis. The system enables precise monitoring of solar farm conditions, ensuring optimal placement and maintenance of PV modules in dynamic environments. The robot's autonomous operation and real-time data transmission enhance efficiency in solar energy infrastructure assessment and management.
17. The robot of claim 16 , wherein the receiver external to the robot comprises one or more adjustable solar surfaces distributed within the unstructured environment.
This invention relates to a robotic system designed for operation in unstructured environments, such as outdoor or dynamic settings where precise positioning or infrastructure is unavailable. The system addresses the challenge of maintaining power supply and communication in such environments by incorporating an external receiver with adjustable solar surfaces. These solar surfaces are distributed within the environment to capture solar energy efficiently, regardless of the robot's position or orientation. The adjustable nature of the surfaces allows them to optimize energy collection based on sunlight availability and angle, ensuring a reliable power source for the robot. The receiver may also include additional components, such as energy storage or signal relay devices, to support the robot's autonomous functions. By leveraging distributed solar surfaces, the system enhances operational continuity and reduces dependency on onboard power sources, making it suitable for long-duration missions in remote or harsh conditions. The robot itself may include navigation, sensing, or task execution capabilities, with the external receiver providing sustained energy and communication support. This approach improves efficiency and reliability in environments where traditional power solutions are impractical.
18. The robot of claim 17 , wherein the robot further comprises a natural light camera or a distance sensing system.
This invention relates to a robot equipped with a natural light camera or a distance sensing system to enhance its operational capabilities. The robot is designed to navigate and interact with its environment more effectively by capturing visual data or measuring distances to objects. The natural light camera allows the robot to capture images or video in visible light conditions, enabling tasks such as object recognition, environmental mapping, or human-robot interaction. Alternatively, the distance sensing system, which may include sensors like LiDAR, ultrasonic, or infrared, provides spatial awareness by detecting and measuring distances to surrounding objects. This functionality supports autonomous navigation, obstacle avoidance, and precise positioning. The robot may integrate these sensing systems with other components, such as processors or actuators, to process data and execute actions based on real-time environmental feedback. The inclusion of these systems improves the robot's ability to perform tasks in dynamic environments, such as industrial automation, healthcare assistance, or domestic applications. The invention addresses the need for robots to operate safely and efficiently in unstructured or changing surroundings by providing reliable perception capabilities.
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November 18, 2016
December 31, 2019
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